Respond to feedback

Author: tylerjw

moveit_ros/planning/package.xml

@@ -48,6 +48,7 @@
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ros_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <test_depend>moveit_resources_panda_moveit_config</test_depend>
 

moveit_ros/planning/srdf_publisher_node/CMakeLists.txt

@@ -3,7 +3,7 @@ ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp
                           rclcpp_components)
 
 if(BUILD_TESTING)
-  find_package(launch_testing_ament_cmake)
+  find_package(launch_testing_ament_cmake REQUIRED)
 
   add_launch_test(test/srdf_publisher_test.py TARGET test-srdf_publisher)
 endif()

moveit_ros/planning/srdf_publisher_node/src/srdf_publisher_node.cpp

@@ -65,6 +65,11 @@ class SrdfPublisher : public rclcpp::Node
   {
     srdf_publisher_ = this->create_publisher<std_msgs::msg::String>("robot_description_semantic",
                                                                     rclcpp::QoS(1).transient_local().reliable());
+
+    // TODO: Update the callback used here once Humble is EOL
+    // Using add_on_set_parameters_callback as it is the only parameter callback available in Humble.
+    // This is also why we have to return an always success validation.
+    // Once Humble is EOL use add_post_set_parameters_callback.
     on_set_parameters_handle_ =
         this->add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter>& parameters) {
           for (auto const& parameter : parameters)
@@ -74,6 +79,7 @@ class SrdfPublisher : public rclcpp::Node
               std_msgs::msg::String msg;
               msg.data = parameter.get_value<std::string>();
               srdf_publisher_->publish(msg);
+              break;
             }
           }